Heavy Y6 adventure thru 3.4 RC with AutoTune

ArduCopter Copter 3.4
57

Hello Emin,

For a minor preface let me say that my experience far below of experience of developers here. So everything here is just IMHO and I could be totally wrong. Hope people will correct me in this case.

  1. I believe here is some chance for issue in MissionPlanner or something like that. Do you have seen that topic? Disarm/Arm in the air - #5 by gelazanskas

It seems guys there have got a real crash due to disarming in mid air. But it happened just once and there is a good chance it was just a coincidence.

  1. It could happen due to your copter size and mass. It depends what do you mean as “usual”. I unsure results for your copter may have same values or scale as results for 450-sized drone. More weight, more inertia moments, more power needed to start motion and to stop. It’s not just about motors and battery power.

  2. It could. Even a battery position or orientation change could lead to different values after autotune.

  3. I believe you need to set all ESCs to same min/max value. I believe 1500 vs 1525 vs 1488 it doesn’t matter for copter while have all ESCs configured in a same way.

  4. To be honest I have no idea on that. It looks like IMAX can be considered as a max value for autotuned rate of I.

  5. Compatible memory card list for pixhawk: https://pixhawk.org/peripherals/sdcards

  6. I believe that average temperature of motors could depend on PID settings. As soon as you get control more sharp and aggressive, it will apply more powerful impulses for attitude change or correction. It means temperature will grow also.

  7. So far I can see it starts autotune with current PID values, not with some default values: ardupilot/ArduCopter/control_autotune.cpp at Copter-3.4 · ArduPilot/ardupilot · GitHub

  8. It could be pretty much ok due to air temperature and atmospheric pressure changes. Everything it could rely on to calculate barometric altitude is atmospheric pressure. Then value could be fixed with correction from GPS.

  9. I never used auto analysis, so unable to say anything here. Sorry.

  10. Unsure GPS is able to provide orientation data. AFAIK the GPS is about position, not orientation. Also typical drone GPS module have 5-10Hz data refresh rate that seems not enough for any stabilization tasks.

  11. LMGIFY :slight_smile: No idea, really. But now I get curious and going to google. Thanks for pointing.

  12. Not me so far :slight_smile: You may ask this question here: Pixhawk 2 Getting Started - #68 by proficnc

regards,
Dmitry